
Examine parameter identification in Equation (REF ).

Flatness-based control might be helpful elsewhere: 1) Another model due to [1]} has also been investigated from a control-theoretic perspective (see, e.g., [2]}, [3]} and references therein, [4]}). It is easy to check that it is flat; 2) the unicycle in [5]}, which is used as a nanorobot for drug delivery, is well known to be flat.
New control paradigms?
The control strategy which has been developed here for oncological in silico experiments might lead to new paradigms:

Assume that we have a flat nominal system with some important uncertainties. Use open-loop flatness-based techniques. Close the loop via model-free control. What's about flatness-based control of partial differential equations (see, e.g., [6]}, [7]}; and references therein)?

Investigate possible connections with Active Disturbance Rejection Control, or ADRC, as presented by
[8]}.

<FIGURE><FIGURE><FIGURE><FIGURE><FIGURE><FIGURE><FIGURE><FIGURE>